Folders and files
| Name | Name | Last commit date | ||
|---|---|---|---|---|
MLCPP: Multi-layer coverage path planner for autonomous structural inspection of high-rise structures
- The purpose of the algorithm is to inspect high-rise building with UAV or 3D reconstruction.
- DOI: 10.1109/IROS.2018.8593537
- If you use or refer this repository, please cite the paper below:
Jung, S., Song, S., Youn, P. and Myung, H., 2018, October. Multi-layer coverage path planner for autonomous structural inspection of high-rise structures. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1-9). IEEE.
Left: Target and path. Right: full visualization
cd ~/<your_workspace>/src
git clone https://github.com/sungwook87/mlcpp
cd ..
catkin build- Edit some parameters in main.launch file
roslaunch mlcpp main.launch
rostopic pub /calculate_cpp std_msgs/Empty- Warning message Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
- Just ignore it. It will disappear after rostopic pub /calculate_cpp std_msgs/Empty